diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 3 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 4 |
2 files changed, 4 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 2aeea5cbe..9f80219b1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -10,6 +10,7 @@ mavlink start -r 10000 -d /dev/ttyACM0 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 +mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10 # Exit shell to make it available to MAVLink -exit +exit diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 037999af7..96852bb0e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -811,8 +811,8 @@ protected: for (unsigned i = 0; i < 8; i++) { if (i < n) { if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - /* scale fake PWM out 900..1200 us to 0..1*/ - out[i] = (act->output[i] - 900.0f) / 1200.0f; + /* scale fake PWM out 900..2100 us to -1..1*/ + out[i] = (act->output[i] - 1500.0f) / 600.0f; } else { /* send 0 when disarmed */ |